Handheld Visual-Inertial Curb Surveying Device
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Solution Overview
Problem
Traditional surveying techniques are time-consuming, require significant training, and are inaccurate in urban environments due to the need for bulkier, more expensive GPS devices with better antennas, which are also less effective in 'urban canyons'.
Innovation Solution
A handheld surveying device equipped with a camera and an inertial measurement unit (IMU) that uses visual inertial odometry to measure positions and align them with Geographic Information System (GIS) coordinates, allowing for more accurate and efficient curb surveys by capturing images and measuring motion, gravity direction, and distance using infrared structured illumination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If survey-quality GPS devices are used to improve measurement precision, then GPS accuracy is improved, but the device becomes bulkier, heavier, and more expensive
Solution Approach 1:
The patent combines multiple sensing modalities (camera for visual odometry, IMU for inertial measurement, wheel encoder for distance) into an integrated surveying device. This fusion approach achieves survey-quality accuracy without requiring bulky survey-quality GPS antennas, as the positioning is derived from sensor fusion rather than GPS signal strength
Solution Approach 2:
The patent replaces the GPS radio frequency system with a mechanical/optical sensor fusion system. Instead of relying on GPS satellites and large antennas, the device uses a camera to capture visual features, an IMU to measure motion, and a wheel encoder to track distance, combining these mechanical and optical measurements to achieve positioning accuracy
2Measurement precision
If survey-quality GPS devices are used to improve measurement precision, then GPS accuracy is improved, but the device becomes much more expensive
Solution Approach 1:
The patent uses consumer-grade components (standard camera, commercial IMU, wheel encoder) instead of expensive survey-quality GPS receivers. These cheaper components are fused through algorithmic processing to achieve accuracy that would otherwise require much more expensive hardware
Solution Approach 2:
The patent replaces the expensive GPS radio frequency system with a mechanical/optical sensor fusion system using a camera, IMU, and wheel encoder. This substitution achieves comparable or superior accuracy in urban environments while using significantly less expensive components
3Measurement precision
If traditional surveyor's wheel is used to achieve desired accuracy, then measurement precision is maintained, but time consumption increases significantly
Solution Approach 1:
The patent enables continuous data collection during movement by automatically capturing images at regular intervals and continuously processing visual odometry. The surveyor walks along the curb without stopping, and the system continuously measures position and captures features, eliminating the stop-and-measure approach of traditional surveying
Solution Approach 2:
The system automatically processes images to extract feature locations and automatically computes positions from visual odometry without requiring the surveyor to manually measure or record each feature. The device performs the measurement and data processing functions that would otherwise require significant surveyor skill and time
4Measurement precision
If survey-quality GPS is used to improve measurement precision, then positioning accuracy is improved, but the device requires much better antennas and more power
Solution Approach 1:
The patent replaces the power-intensive GPS radio frequency system with a more energy-efficient sensor fusion system. The camera, IMU, and wheel encoder consume significantly less power than a survey-quality GPS receiver with large antennas, enabling extended operation without sacrificing positioning accuracy
5Measurement precision
If survey-quality GPS is used to improve measurement precision, then positioning accuracy is improved, but accuracy deteriorates in urban canyons
Solution Approach 1:
The patent replaces the GPS radio frequency system with a mechanical/optical sensor fusion system that uses a camera to capture visual features and an IMU to measure motion. This substitution eliminates dependence on GPS satellite signals, allowing the system to function accurately in urban canyons where GPS signals are blocked by tall buildings
Solution Approach 2:
The patent introduces visual features from the camera as an intermediary for positioning, replacing the GPS satellite signal intermediary. By using visual landmarks and features captured by the camera as reference points for navigation, the system achieves positioning accuracy in environments where GPS signals are unavailable or inaccurate
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The device provides accurate, efficient, and user-friendly curb surveys that are less susceptible to urban canyon effects, offering better accuracy than traditional methods and reducing the need for extensive training, while being smaller, lighter, and more cost-effective than survey-quality GPS devices.
Implementation Method 1
an inertial measurement unit (IMU) that uses visual inertial odometry to measure positions and align them with Geographic Information System (GIS) coordinates
Implementation Method 2
The surveyor acquires an image of an object on the curb, such as a sign, fire hydrant, or painted section of curb, with the surveying device
Implementation Method 3
The apparatus may also include an infrared (IR) light source and an IR detector. In operation, the IR light source illuminates an object on the curb with IR structured illumination, and the IR detector detects IR structured illumination scattered or reflected by the object on the curb. The processor determines a distance to the object based on the IR structured illumination detected by the IR detector.
Data Source
AI summary
Visual-inertial odometry uses visual input from a camera and inertial motion measurements to track the motion of an object. This technique can be applied to surveying urban environments, such as a curb or streetscape, that are impractical to survey with a surveyor's wheel, GPS, or imagery from cars. Making visual-inertial odometry measurements of a curb with a handheld surveying device yields relative measurements from a starting point to an ending point on the curb. These relative measurements can be pinned to an absolute coordinate frame using measurements of gravity made while acquiring the visual-inertial odometry measurements and absolute measurements of the starting and ending points.